IT''s exceptional for the courts not to make an order for some form of contact. If there is independent evidence (police, social workers, doctors etc) that children are suffering significant harm or at risk of significant harm the courts would usually look at measures to put in place to ensure contact is safe. That might be a DV perpetrator programme, supervised contact or contact in a contact centre.
What I found shocking is the assumption that low level abuse is acceptable in child access cases. While your post is no longer there so I can''t comment I would suggest you get help to deal with your issues/concerns. Even if you just need someone to talk to about your fears.